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自瞄实时性修复

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This commit is contained in:
Luo Yufei
2026-03-28 06:22:48 +08:00
parent ef3fd150a0
commit 141355f1a6
1 changed files with 6 additions and 10 deletions
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16
armor/src/armor_finder/send_target/send_target.cpp
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@@ -208,25 +208,21 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
return true;
} else if (state == LOST_TARGET_WAIT) {
// 等待1秒期间：开启小陀螺旋转索敌
// 等待1秒期间：保持静止，不旋转
static int wait_count = 0;
wait_count++;
if (wait_count % 50 == 0) {
auto remaining = 1000 - std::chrono::duration_cast<std::chrono::milliseconds>(now - state_start_time).count();
LOGM(STR_CTR(WORD_YELLOW, "Pre-search: yaw=150, %dms left"), remaining > 0 ? remaining : 0);
LOGM(STR_CTR(WORD_YELLOW, "Waiting... %dms left before search"), remaining > 0 ? remaining : 0);
wait_count = 0;
}
// 等待期间也旋转：yaw=150，pitch 小范围扫描
pitch_scan += pitch_direction * 5;
if (pitch_scan >= 50) pitch_direction = -1;
if (pitch_scan <= -50) pitch_direction = 1;
updateControl(150, pitch_scan, 0, 3, 2);
// 等待期间不旋转，发送0值
updateControl(0, 0, 0, 3, 3);
return true;
} else { // SEARCHING
// 索敌状态：持续旋转直到找到目标
pitch_scan += pitch_direction * 7;
// 索敌状态：持续旋转直到找到目标，加快pitch扫描速度
pitch_scan += pitch_direction * 15; // 从7加快到15
if (pitch_scan >= 200) pitch_direction = -1;
if (pitch_scan <= -100) pitch_direction = 1;